Diff: main.cpp

Revision:

9:81637351bbd1

Parent:

7:a928724ef731

--- a/main.cpp	Thu Oct 27 09:57:26 2016 +0000
+++ b/main.cpp	Thu Oct 27 10:27:08 2016 +0000
@@ -44,8 +44,10 @@
 AnalogIn emg1( A1 );
 AnalogIn emg2( A2 );
 
+//Go flag for emg sample
 bool go_emgSample;
-bool go_find_minmax;
+
+//Variables for intermediate filter values
 double emg_sample[3];
 double emg_low_passed_200[3];
 double emg_notch[3];
@@ -54,18 +56,7 @@
 double min_emg[3];
 double max_emg[3];
 
-const int n = 100;
-int counter = 0;
-double RMSArray0[n] = {0};
-double RMSArray1[n] = {0};
-double RMSArray2[n] = {0};
-double RMS0;
-double RMS1;
-double RMS2;
-double SumRMS0;
-double SumRMS1;
-double SumRMS2;
-
+//Calculating normalized outputs
 double input_force0;
 double input_force1;
 double input_force2;
@@ -123,77 +114,56 @@
             //low pass the rectified emg signal
             emg_low_passed[0] = low_pass.step(fabs(emg_high_passed[0]));
             
-            //Calculating RMS
-            SumRMS0 -= pow(RMSArray0[counter],2);
-            SumRMS1 -= pow(RMSArray1[counter],2);
-            SumRMS2 -= pow(RMSArray2[counter],2);
-            
-            RMSArray0[counter] = emg_high_passed[0];
-            RMSArray1[counter] = emg_high_passed[1];
-            RMSArray2[counter] = emg_high_passed[2];
-            
-            SumRMS0 += pow(RMSArray0[counter],2);
-            SumRMS1 += pow(RMSArray1[counter],2);
-            SumRMS2 += pow(RMSArray2[counter],2);
-            
-            counter++;
-            if (counter == n){
-                counter = 0;
-            }
-            
-            RMS0 = sqrt(SumRMS0/n);
-            RMS1 = sqrt(SumRMS1/n);
-            RMS2 = sqrt(SumRMS2/n);
             
             //Calculating min value and max value of emg signal
             if(state == STATE_CALIBRATION)
             {
                 if (start_calibration == 0) {
-                    min_emg[0] = RMS0;
-                    max_emg[0] = RMS0;
-                    min_emg[1] = RMS1;
-                    max_emg[1] = RMS1;
-                    min_emg[2] = RMS2;
-                    max_emg[2] = RMS2;
+                    min_emg[0] = emg_low_passed[0];
+                    max_emg[0] = emg_low_passed[0];
+                    min_emg[1] = emg_low_passed[1];
+                    max_emg[1] = emg_low_passed[1];
+                    min_emg[2] = emg_low_passed[2];
+                    max_emg[2] = emg_low_passed[2];
                     start_calibration++;
                 }
                 else {
                     //finding min and max of emg0
-                    if (RMS0 < min_emg[0]) {
-                        min_emg[0] = RMS0;
+                    if (emg_low_passed[0] < min_emg[0]) {
+                        min_emg[0] = emg_low_passed[0];
                     }
-                    else if (RMS0 > max_emg[0]) {
-                        max_emg[0] = RMS0;
+                    else if (emg_low_passed[0] > max_emg[0]) {
+                        max_emg[0] = emg_low_passed[0];
                     }
                     
                     //finding min and max of emg1
-                    if (RMS1 < min_emg[1]) {
-                        min_emg[1] = RMS1;
+                    if (emg_low_passed[1] < min_emg[1]) {
+                        min_emg[1] = emg_low_passed[1];
                     }
-                    else if (RMS1 > max_emg[1]) {
-                        max_emg[1] = RMS1;
+                    else if (emg_low_passed[1] > max_emg[1]) {
+                        max_emg[1] = emg_low_passed[1];
                     }
                     
                     //finding min and max of emg2
-                    if (RMS2 < min_emg[2]) {
-                        min_emg[2] = RMS2;
+                    if (emg_low_passed[2] < min_emg[2]) {
+                        min_emg[2] = emg_low_passed[2];
                     }
-                    else if (RMS2 > max_emg[2]) {
-                        max_emg[2] = RMS2;
+                    else if (emg_low_passed[2] > max_emg[2]) {
+                        max_emg[2] = emg_low_passed[2];
                     }
                 }   
             } 
             
             //calculating input_forces for controller
-            input_force0 = (RMS0 - min_emg[0])/(max_emg[0]-min_emg[0]);
-            input_force1 = (RMS1 - min_emg[1])/(max_emg[1]-min_emg[1]);
-            input_force2 = (RMS2 - min_emg[2])/(max_emg[2]-min_emg[2]);
+            input_force0 = (emg_low_passed[0] - min_emg[0])/(max_emg[0]-min_emg[0]);
+            input_force1 = (emg_low_passed[1] - min_emg[1])/(max_emg[1]-min_emg[1]);
+            input_force2 = (emg_low_passed[2] - min_emg[2])/(max_emg[2]-min_emg[2]);
             
             //Send scope data
             scope.set(0,emg_sample[0]);
             scope.set(1,emg_notch[0]);
             scope.set(2,emg_high_passed[0]);
-            scope.set(3,emg_low_passed[0]);
+            scope.set(3,input_force0);
             //scope.set(2,emg_low_passed[0]);
             //scope.set(3,input_force2);
             scope.send();